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AP_GPS: correct check of reported antenna distance vs stated offset

This commit is contained in:
Peter Barker 2024-02-22 15:54:49 +11:00
parent e979a9076c
commit b30563e10b
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_GPS/GPS_Backend.cpp
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@ -367,7 +367,7 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
} }
if ((offset_dist - reported_distance) > (min_dist * permitted_error_length_pct)) { if (fabsf(offset_dist - reported_distance) > (min_dist * permitted_error_length_pct)) {
// the magnitude of the vector is much further then we were expecting // the magnitude of the vector is much further then we were expecting
Debug("Exceeded the permitted error margin %f > %f", Debug("Exceeded the permitted error margin %f > %f",
(double)(offset_dist - reported_distance), (double)(min_dist * permitted_error_length_pct)); (double)(offset_dist - reported_distance), (double)(min_dist * permitted_error_length_pct));